Inverse perspective mapping 2D from 3D cordinates

Hello evry body;

I'm trying to perform an inverse perspective mapping using the pinhole camera model (monocular camera) for an image (2D cordinates) in the main to find the 3D coorinates (X Y Z), after this I wanted to do a perspective projection to anthor coordinate system which contains a virtual camera to perform a Bird-Eye-View image : the code I used is attached with this comment, the problem I 'm facing is that the coordinates that I found with the perspective projection are greater than my image size

So if someone can suggest me any ideas it will be thankful